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Manipulation of objects by exploiting their contact with the environment canenhance both the dexterity and payload capability of robotic manipulators. Acommon way to manipulate heavy objects beyond the payload capability of a robotis to use a sequence of pivoting motions, wherein, an object is moved whilesome contact points between the object and a support surface are kept fixed.The goal of this paper is to develop an algorithmic approach for automated plangeneration for object manipulation with a sequence of pivoting motions. A planfor manipulating a heavy object consists of a sequence of joint angles of themanipulator, the corresponding object poses, as well as the joint torquesrequired to move the object. The constraint of maintaining object contact withthe ground during manipulation results in nonlinear constraints in theconfiguration space of the robot, which is challenging for motion planningalgorithms. Exploiting the fact that pivoting motion corresponds to movementsin a subgroup of the group of rigid body motions, SE(3), we present a noveltask-space based planning approach for computing a motion plan for both themanipulator and the object while satisfying contact constraints. We alsocombine our motion planning algorithm with a grasping force synthesis algorithmto ensure that friction constraints at the contacts and actuator torqueconstraints are satisfied. We present simulation results with a dual-armedBaxter robot to demonstrate our approach.

Motion and Force Planning for Manipulating Heavy Objects by Pivoting